CN102826044A - Slope safety driving system of vehicle - Google Patents
Slope safety driving system of vehicle Download PDFInfo
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- CN102826044A CN102826044A CN2012103311658A CN201210331165A CN102826044A CN 102826044 A CN102826044 A CN 102826044A CN 2012103311658 A CN2012103311658 A CN 2012103311658A CN 201210331165 A CN201210331165 A CN 201210331165A CN 102826044 A CN102826044 A CN 102826044A
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Abstract
The invention provides a slope safety driving system of a vehicle, which is used for the conditions that the vehicle is about to climb to a horizontal road, the vehicle is about to descend from the horizontal road and the vehicle drives on a pit road surface, and comprises a first distance measuring device, a shooting device, a display device and a processor; the first distance measuring device is arranged at the front part of the vehicle and used for measuring the distance L between the installation position of the first distance measuring device and the ground in real time and sending the measurement result to the processor; the shooting device is arranged at the front part of the vehicle and is used for shooting road conditions in front of the vehicle; the display device is arranged in the vehicle and used for displaying the road condition shot by the shooting device; the processor is connected with the first distance measuring device and the display device in a wired or wireless mode; and when the sudden change of the distance L in the time T is larger than a preset threshold value a, the processor controls the display device to display the road condition shot by the shooting device in real time.
Description
Technical field
The present invention relates to a kind of ramp safe driving system of vehicle.
Background technology
When vehicle gets into the track of certain angle on the road that gets into another level is then climbed in the existing track of certain angle and by the horizontal road descending; Particularly on the steep hills road and cheat when going on the recessed road surface; Chaufeur can form the blind angle of vision; If other vehicle also descending or upward slope are arranged this moment, this vision blind area is easy to cause traffic accident.
In order to eliminate this blind area, people have adopted the multiple technologies means.For example, U.S. Patent application US 2006/0176210 A1 discloses a kind of Vehicular display device, when vehicle ' is on level road, the FOE (extension focus) of standard is set to the core that horizon is positioned at the viewing area.When vehicle is prepared to go up a slope, move this viewing area to mate the ordinate between current FOE and the standard FOE.Prepare down-hill the time when vehicle, move this viewing area to mate the ordinate between current FOE and the standard FOE.This technical scheme can remove that vehicle prepare to go up a slope or the read-out during descending on inactive area, go up a slope or the blind area during descending but can't effectively remedy.
Chinese patent 200810200313.6 discloses the automobile headlight control device and the method for a kind of automatic adjusting night driving bend and the gradient.This device comprises camera, microprocessor, controller, led light source array.Its method is: microprocessor reads the vedio data of camera by frame; On the image that reads, cut apart four zones, be respectively same horizontal direction on the image about two zones up and down of two zones and same vertical direction; Microprocessor carries out image processing to two continuous two field pictures and obtains this four area pixel light intensity variation speed information; Microprocessor changes the speed information extraction according to these four area pixel light intensity and goes out environment and driving states characteristic information and be transferred to controller; The illumination mode that environment that the controller basis is obtained and driving states characteristic information come automatic guidance led light source array.This technical scheme is controlled the illumination mode of led light source array through controller, can illuminate dark originally zone, but can't effectively remedy the blind area.
One Chinese patent application 90105074.1 discloses a kind of multifunctional automobile headlight of multi-functional car headlamp, particularly a kind of fluid optical system.It is made up of lamp group and controller two large divisions.Before can realizing about the irradiation bundle, about turn to, reduce automobile about turn and the uphill/downhill blind area.This technical scheme is the same with a last scheme, illuminates dark originally zone through turning to up and down of preceding irradiation bundle, but can't remedy the blind area.
Thereby technique scheme still can not effectively solve the vision blind zone problem that occurs when the vehicle climbing finishes to be about to get into level road and is about to from the level road descending.
Therefore, how to provide a kind of can eliminate vehicle driving up and descending the time safe driving system of blind area become the problem that industry need solve.
Summary of the invention
Shortcoming to prior art; The purpose of this invention is to provide a kind of safe driving system, it can remedy the vision blind area of vehicle when the existing track climbing of certain angle gets into the track that gets into certain angle on the road of another level and by the horizontal road descending then.
To achieve these goals, the invention provides a kind of ramp safe driving system of vehicle, be used for the situation that vehicle is about to climb and is about to descending and on recessed road surface, hole, is gone by horizontal road to horizontal road, vehicle, it comprises:
First distance measuring equipment (DME), the front portion that it is installed on vehicle is used for measuring in real time the distance L between its installation site and the ground, and this result of a measurement is sent to treater;
Filming apparatus, it is installed on front part of vehicle, is used to take the road conditions of vehicle front;
Read out instrument, it is installed in the car, is used to the road conditions that show that filming apparatus is captured;
Treater, it is connected through wired or wireless with first distance measuring equipment (DME), read out instrument; When the sudden change of distance L in time T during greater than pre-set threshold a, treater control read out instrument shows the road conditions that filming apparatus is captured in real time.
Among the present invention, the first distance measuring equipment (DME) setting height(from bottom) is high more, and the distance of its anticipation is big more.For example the overall height of car is generally 1.4 meters-1.6 meters, and the preferred setting height(from bottom) of first distance measuring equipment (DME) is 0.6 meter-1.6 meters (roof).
Among the present invention, distance measuring equipment (DME) is infrared range-measurement system, ultrasonic range finder or laser rangefinder or other distance measuring equipment (DME).
Among the present invention, distance L is the distance between first distance measuring equipment (DME) and the measurement point, and in the form process of vehicle, measurement point constantly changes, and it can be positioned at vehicle front road surface or road surface, vehicle front below.When vehicle driving up closes to an end when prepare getting into level road or vehicle when being about to descending or vehicle when on the bigger road surface of hole concavity, going, the sudden change amount of L value in very short time can be bigger.Key of the present invention is that it is condition that the sudden change amount with L reaches certain threshold value, starts read out instrument and shows the captured road conditions of filming apparatus, and this moment, navigating mate checked that read out instrument can grasp the road conditions of vehicle front.And read out instrument does not show that in the whole process of vehicle ' the reason of road conditions is that consumption of current is big, and sometimes read out instrument need show other content.
Among the present invention, read out instrument can be various Vehicular display devices, for example various CRT monitors, LCD display, light-emitting diode display, and it is preferably and is arranged at before the steering position, is beneficial to the driver and checks.Among the present invention, filming apparatus can be various cameras.
The present invention is through being installed on the first distance measuring equipment (DME) measuring distance L of vehicle front; When the sudden change of this distance L in very short time surpasses certain limit; Treater is just controlled read out instrument and is begun the blind area road conditions that show that in real time filming apparatus is captured; Be about to climb to horizontal road, be about to descending and the existing blind area of on recessed road surface, hole, going with elimination, and then avoid traffic accident by horizontal road.With utilize the slope measuring device for example level indicator carry out measurement of angle and compare; System of the present invention adopts the distance of measuring between first distance measuring equipment (DME) and vehicle front or the vehicle front below ground-surface measurement point; When vehicle front is about to arrive gradient inclined-plane, system can detect the existence of the gradient at once; Touch gradient inclined-plane and have only when wheel, level indicator just can detect the gradient.Thereby; When vehicle front occur to go up a slope or descending and wheel when also not contacting gradient inclined-plane; Level indicator does not also detect the gradient, and first distance measuring equipment (DME) can to detect in advance be the variation of the gradient, thereby adopt the present invention to carry out range observation and can more early detect the gradient than adopting level indicator and carrying out measurement of angle; And then more early open read out instrument and utilize the auxiliary road conditions that show of filming apparatus, have an accident with the unexpected variation of in time not tackling road conditions of avoiding navigating mate.
Another specific embodiment according to the present invention, T≤1 second, a≤10 meter; Further being preferably T on this basis is 0.1 second, and a is 1 meter, and the distance L that promptly records when first distance measuring equipment (DME) was suddenlyd change in 0.1 second and surpassed 1 meter, and then treater control read out instrument shows the road conditions that filming apparatus is captured in real time.
Another specific embodiment according to the present invention, the emission angle of first distance measuring equipment (DME) be for becoming the front lower place at α angle with the straight-line travelling direction of vehicle, wherein 5 °≤α≤90 °.In theory, angle can both detect greater than the slope of α.In fact, because operating vehicle has speed, the slope that angle is slightly littler than α also can be detected.For example, through contriver's practical proof, suppose that α is 7.4 °, when the speed of a motor vehicle is very little near 0 the time, can detect angle and be 7.4 ° the gradient, when the speed of a motor vehicle was 10km/h, it can detection angle be 5.8 ° the gradient.
Another specific embodiment according to the present invention, treater is connected through wired or wireless with filming apparatus.
Another specific embodiment according to the present invention, it further comprises second distance measuring equipment (DME), this second distance measuring equipment (DME) is installed on the front end of vehicle, is used for measuring in real time the vertical distance H between its installation site and the ground, and this result of a measurement is sent to treater; Filming apparatus has angle regulator, and treater is controlled the shooting angle that angle regulator is regulated filming apparatus according to the variation of H and the GES of average speed indicator.The coverage of the vertical direction of filming apparatus probably is 90 °, and when the vehicle level was gone, the shooting angle of filming apparatus above horizon was 25 °, and the shooting angle of horizon below is 65 °.In addition, the pairing ramp angles of 10% the gradient is β 1=5.71 °; The pairing ramp angles of 30% the gradient is β 2=16.67 °.When vehicle is about to descending grade is 10% ramp, and promptly during β 1=5.71 ° ramp, filming apparatus squints β 1=5.71 ° downwards.When vehicle is about to descending descending slope is 30% ramp, and promptly during β 2=16.67 ° ramp, filming apparatus squints β 2=16.67 ° downwards.When the gradient in ramp when 10%～30% changes, the angle beta of filming apparatus can change between 5.71～16.67 accordingly.When vehicle went in the ramp that is lower than 10%, the angle of filming apparatus did not change, and the shooting angle when going with the vehicle level road is consistent.When vehicle went in being higher than 30% ramp, shooting angle can maintain β 2=16.67 °.
Wherein, the acquisition methods of ramp angles γ is: the treater of system will be connected with vehicle ECU, distance measuring equipment (DME), is that the Vm/s and second distance measuring equipment (DME) are found range from the signal x m/s that changes to obtain GES.Draw α=arctan (x/V) by tan γ=x*t/V*t=x/V.The treater of system is collected signal always, upgrades the information of γ always, and shooting angle is regulated because of the ground of different gradient.Make and judge in system and can make before read out instrument begins to show the captured road conditions of filming apparatus that shooting angle has been regulated and finished.For example, when being 1m/s, x=0.2m/s in speed V=3.6km/ hour, γ=arctan (x/V)=arctan (0.2/1)=11.31 °, the corresponding downward adjusting β of filming apparatus=11.31 °.When being 2m/s, x=0.54m/s in speed V=7.2km/ hour, γ=arctan (x/V)=arctan (0.3/1.5)=15.11 °, the corresponding downward adjusting β of filming apparatus=15.11 °.
Another specific embodiment according to the present invention, treater is connected through wired or wireless with filming apparatus, and when the sudden change of distance L in time T during greater than pre-set threshold a, treater control filming apparatus starts.This scheme is only just opened filming apparatus when the needs read out instrument shows road conditions, thereby has saved energy consumption greatly.
Another specific embodiment according to the present invention, filming apparatus all is in open mode in the whole process of running car; The safe driving system also comprises memory storage (for example hard disk), is used to store the captured road conditions of filming apparatus.
Another specific embodiment according to the present invention, read out instrument time-delay show that filming apparatus captured several seconds of road conditions, (for example 3-10 second) afterwards, stopped to show road conditions.In this scheme, filming apparatus institute images recorded all is stored in the memory storage, uses can working as drive recorder at ordinary times, and the confirmation of responsibility when can be used for occurrence of traffic accident greatly reduces the error rate of confirmation of responsibility.
Another specific embodiment according to the present invention, first distance measuring equipment (DME) are installed on the front bottom end, A post of vehicle bumper or roof.
Another specific embodiment according to the present invention, filming apparatus are positioned at by the Logo of air-inlet grille of vehicle.Another specific embodiment according to the present invention, the number of filming apparatus be one, two or more.
Compared with prior art, the present invention possesses following beneficial effect:
The present invention is through being installed on the first distance measuring equipment (DME) measuring distance L of vehicle front; When the sudden change of this distance L in very short time surpasses certain limit; Treater is just controlled read out instrument and is begun the blind area road conditions that show that in real time filming apparatus is captured; Be about to climb to horizontal road, be about to descending and the existing blind area of on recessed road surface, hole, going with elimination, and then avoid traffic accident by horizontal road.With utilize the slope measuring device for example level indicator carry out measurement of angle and compare; System of the present invention adopts the distance of measuring between first distance measuring equipment (DME) and vehicle front or the vehicle front below ground-surface measurement point; When vehicle front is about to arrive gradient inclined-plane, system can detect the existence of the gradient at once; Touch gradient inclined-plane and have only when wheel, level indicator just can detect the gradient.Thereby; When vehicle front occur to go up a slope or descending and wheel when also not contacting gradient inclined-plane; Level indicator does not also detect the gradient, and first distance measuring equipment (DME) can to detect in advance be the variation of the gradient, thereby adopt the present invention to carry out range observation and can more early detect the gradient than adopting level indicator and carrying out measurement of angle; And then more early open read out instrument and utilize the auxiliary road conditions that show of filming apparatus, have an accident with the unexpected variation of in time not tackling road conditions of avoiding navigating mate.
Description of drawings
Fig. 1 is among the embodiment 1, the scheme drawing the when distance L that records during the vehicle climbing does not have sudden change;
Fig. 2 is among the embodiment 1, the scheme drawing the when distance L that records during the vehicle climbing has sudden change;
Fig. 3 is among the embodiment 1, the scheme drawing the when distance L that the vehicle level records when going does not have sudden change;
Fig. 4 is among the embodiment 1, the scheme drawing the when distance L that the vehicle level records when going has sudden change.
The specific embodiment
The ramp safe driving system of present embodiment comprises first distance measuring equipment (DME) (for example first infrared range-measurement system 1), filming apparatus (for example camera), read out instrument (for example LCDs), memory storage (for example hard disk), treater.
Wherein, First infrared range-measurement system 1 is installed on the front bottom end of vehicle bumper; Its setting height(from bottom) is 0.6 meter; Its emission angle is used for measuring in real time the distance L between its installation site and the ground, and this result of a measurement is sent to treater for become the front lower place at 7.4 ° of angles with the straight-line travelling direction of vehicle.
The number of camera is one, is installed on by the Logo of air-inlet grille of front part of vehicle, all is in open mode in the whole process of running car, is used to take the road conditions of vehicle front;
LCDs is installed on before the interior steering position of car, is used to the road conditions that show that camera is captured.
Hard disk is used to store the captured road conditions of filming apparatus, and camera institute images recorded all is stored in the hard disk, can work as the drive recorder use at ordinary times.
Treater is connected with first infrared range-measurement system, read out instrument; When the sudden change of distance L in 0.1 second (is about to get into level road like Fig. 1-vehicle climbing shown in Figure 2 during greater than 1 meter of pre-set threshold; And Fig. 3-vehicle shown in Figure 4 is about to descending by level road), treater control read out instrument shows the road conditions that filming apparatus is captured in real time.
The LCDs time-delay shows that the captured road conditions of camera after several seconds, stop to show road conditions.
In the present embodiment, the anticipation distance is a 0.6/tan7.4=4.6 rice.Be the system of present embodiment can the detection range vehicle front slope change outside 4.6 meters.
Embodiment 2
The difference of present embodiment and embodiment 1 is:
(1) treater is connected with camera, and when the sudden change of distance L in 0.1 second during greater than 1 meter of pre-set threshold, treater control camera starts.
(2) also comprise second distance measuring equipment (DME) (for example second infrared range-measurement system), this second infrared range-measurement system is installed on the front end of vehicle, is used for measuring in real time the vertical distance H between its installation site and the ground, and this result of a measurement is sent to treater; Camera has angle regulator, and treater is controlled the shooting angle that angle regulator is regulated camera according to the variation of H and the GES of average speed indicator.
(3) number of camera is two.
(4) first infrared range-measurement systems are installed on vehicle roof, and its setting height(from bottom) is 1.4 meters, and apart from 2 meters of vehicle fronts, its emission angle is for becoming the front lower place at 7.4 ° of angles with vehicle heading.
In the present embodiment, the anticipation distance is a 1.4/tan7.4-2=8.78 rice.Be the system of present embodiment can the detection range vehicle front slope change outside 8.78 meters.
The present invention discloses as above with preferred embodiment, but is not in order to limit the scope that the present invention implements.Any those of ordinary skill in the art, promptly every when doing a little improvement in not breaking away from invention scope of the present invention according to the equal improvement that the present invention did, should be scope of the present invention and contain.
Claims (10)
1. the ramp safe driving system of a vehicle is used for vehicle and is about to the situation of climbing and being about to descending and on recessed road surface, hole, being gone by horizontal road to horizontal road, vehicle, and it comprises:
First distance measuring equipment (DME), the front portion that it is installed on vehicle is used for measuring in real time the distance L between its installation site and the ground, and this result of a measurement is sent to treater;
Filming apparatus, it is installed on front part of vehicle, is used to take the road conditions of vehicle front;
Read out instrument, it is installed in the car, is used to the road conditions that show that said filming apparatus is captured;
Treater, it is connected through wired or wireless with said first distance measuring equipment (DME), read out instrument; When the sudden change of said distance L in time T during greater than pre-set threshold a, said treater control read out instrument shows the captured road conditions of said filming apparatus in real time.
2. safe driving as claimed in claim 1 system, wherein, T≤1 second, a≤10 meter.
3. safe driving as claimed in claim 1 system, wherein, the emission angle of said first distance measuring equipment (DME) is for becoming the front lower place at α angle with the straight-line travelling direction of vehicle, wherein 5 °≤α≤90 °.
4. safe driving as claimed in claim 1 system, wherein, said treater is connected through wired or wireless with said filming apparatus.
5. safe driving as claimed in claim 4 system; It further comprises second distance measuring equipment (DME); Said second distance measuring equipment (DME) is installed on the front end of vehicle, is used for measuring in real time the vertical distance H between its installation site and the ground, and this result of a measurement is sent to treater; Said filming apparatus has angle regulator, and said treater is controlled the shooting angle that said angle regulator is regulated said filming apparatus according to the variation of H and the GES of average speed indicator.
6. safe driving as claimed in claim 1 system; Wherein, Said treater is connected through wired or wireless with said filming apparatus, and when the sudden change of said distance L in time T during greater than pre-set threshold a, said treater is controlled said filming apparatus and started.
7. safe driving as claimed in claim 1 system, wherein, said filming apparatus all is in open mode in the whole process of running car; Said safe driving system also comprises memory storage, is used to store the captured road conditions of filming apparatus.
8. safe driving as claimed in claim 1 system, wherein, said read out instrument time-delay shows that the captured road conditions of said filming apparatus after several seconds, stop to show road conditions.
9. safe driving as claimed in claim 1 system, wherein, said first distance measuring equipment (DME) is installed on the front bottom end, A post of vehicle bumper or roof.
10. safe driving as claimed in claim 1 system, wherein, said filming apparatus is positioned at by the Logo of air-inlet grille of vehicle.
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| CN201210331165.8A CN102826044B (en) | 2012-09-07 | 2012-09-07 | Slope safety driving system of vehicle |
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| CN201210331165.8A CN102826044B (en) | 2012-09-07 | 2012-09-07 | Slope safety driving system of vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103318088A (en) * | 2013-07-03 | 2013-09-25 | 无锡商业职业技术学院 | Blind zone warning system and blind zone warning method for automobile |
| CN104097574A (en) * | 2013-04-11 | 2014-10-15 | 仁宝电脑工业股份有限公司 | Image display method and system |
| CN105882522A (en) * | 2015-11-13 | 2016-08-24 | 乐卡汽车智能科技（北京）有限公司 | Vehicle uphill assisting device and method and vehicle |
| WO2017128154A1 (en) * | 2016-01-27 | 2017-08-03 | 赵政荣 | Data collection method for drive recorder adjustment technology and drive recorder |
| CN108532402A (en) * | 2018-03-01 | 2018-09-14 | 昆明创培知识产权服务有限公司 | A kind of roller type automobile intelligence climb and fall auxiliary device |
| CN108569193A (en) * | 2017-11-16 | 2018-09-25 | 常州星宇车灯股份有限公司 | A kind of self-adaptive headlamp system and its control method based on road conditions |
| CN111204284A (en) * | 2020-01-20 | 2020-05-29 | 创驱（上海）新能源科技有限公司 | System and method for eliminating blind area before downhill of automobile |
| CN117048515A (en) * | 2023-10-12 | 2023-11-14 | 浙江极氪汽车研究开发有限公司 | Control method for shooting angle of vehicle-mounted camera and vehicle |
| CN117719418A (en) * | 2024-02-04 | 2024-03-19 | 深圳市欧冶半导体有限公司 | Car light control method, device, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104097574A (en) * | 2013-04-11 | 2014-10-15 | 仁宝电脑工业股份有限公司 | Image display method and system |
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| CN111204284A (en) * | 2020-01-20 | 2020-05-29 | 创驱（上海）新能源科技有限公司 | System and method for eliminating blind area before downhill of automobile |
| CN117048515A (en) * | 2023-10-12 | 2023-11-14 | 浙江极氪汽车研究开发有限公司 | Control method for shooting angle of vehicle-mounted camera and vehicle |
| CN117719418A (en) * | 2024-02-04 | 2024-03-19 | 深圳市欧冶半导体有限公司 | Car light control method, device, computer equipment and storage medium |
| CN117719418B (en) * | 2024-02-04 | 2024-04-16 | 深圳市欧冶半导体有限公司 | Car light control method, device, computer equipment and storage medium |
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